2-JAW SELF-CENTERING RADIAL PNEUMATIC GRIPPER (SERIES PS)

Transcription

1 PS 2-JAW SELF-CENTERING RADIAL PNEUMATIC GRIPPER (SERIES PS) Double-acting radial motion. The gripping force is constant throughout the entire stroke (from 0 to 90, both opening and closing). Lightweight: light alloy materials were used throughout the gripper. Rugged construction. Well protected against dust. PS-0030 PS-0050 PS-0030 PS-0050 Price $ $ Medium Pressure range Filtered compressed air, lubricated or non-lubricated psi Temperature range F Stroke (±1 ) 2 x 91 Gripping torque on each jaw at 87 psi 17.7 in-lbf 53 in-lbf Total gripping torque at 87 psi 35.4 in-lbf 106 in-lbf Maximum operating frequency 2 Hz 1 Hz Air consumption per cycle 2.3 in in 3 Closing time without load 0.08 s 0.1 s Repetition accuracy Weight 1.6 lb (750g) 2.4 lb (1100g) 282

2 by PS RADIAL GRIPPER The radial gripper is gripper whose jaws have an angular motion with an opening angle of approx. 90. It is normally used when it is necessary back the gripper jaws and fingers away from the working plane. USE OF THE GRIPPER As the gripper is double-acting, it can be used to grip a piece either when the jaws are closing or opening. The gripping force is the same in both directions, as the gripper is driven by rodless pistons. 283

3 PS DIMENSIONS (mm) Gripper Mounting Threaded Hole (N 4) Q PS-0030 PS-0050 A B C D E F G H I L M N O 2 2 P Q M4x8 M5x10 R S T U V Z J M4x5 M5x8 a Ø5.5 Ø6.6 b Ø9 Ø11 c d 1/8 Gas 1/8 Gas e f g M4x10 M5x15 h Ø5H8x12 Ø6H8x15 m q r t k y w x Sensor Slot Gripper Finger Dowel Pin Hole Ports (N 2) d Gripper Mounting Threaded Hole (N 4+4) J Gripper Finger Dowel Pin Hole (N 1+1) h Gripper Finger Dowel Pin Hole (N 2+2) g STROKE OPEN 284

4 by PS SAFETY LOADS Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause malfunctions and endanger the safety of the operator. F, Mx, My, Mz are the maximum permitted loads under static conditions, that is when the jaws are motionless. PS-0030 PS-0050 F 138 N 163 N Mx 6 Nm 16 Nm My 26 Nm 46 Nm Mz 18 Nm 31 Nm SPEED ADJUSTMENT The graphs show the maximum permitted moment of inertia on each gripping tool (J), as a function of the jaw opening or closing time (t). Use flow controllers (not supplied) to achieve the desired speed. 285

5 PS GRIPPER MOUNTING The gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to. To mount the gripper, use the threaded holes (A) on the bottom of the gripper or the threaded holes (E) on the sides. The gripper must be centered by placing the keys in the key slots (B) on the base of the gripper. Allow sufficient room to mount the air fittings (C) and to place the sensors (D) in the relevant slots. PS-0030 PS-0050 A M4x8mm M5x10mm B x2 mm x2 mm C G1/8 G1/8 E M4x5mm M5x8mm GRIPPER FINGER MOUNTING The gripper fingers must be as short and light as possible. They must be mounted using the dowel pin hole for centering and the upper threaded holes or the side through holes for the mounting bolts. PS-0030 PS-0050 Dowel Pin Holes (tolerance H8) Ø5x12 mm Ø6x15 mm Threaded Holes M4x10 mm M5x15 mm 286 Through Holes Ø5.5 mm Ø6.6 mm

6 by PS SENSORS The operating position is detected by one or more magnetic proximity sensors (optional) through magnets placed on the slider. Magnetic proximity sensors should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems and jeopardize proper operation. For the mounting: 1- Insert the square nut (A) in its seat on the S 00 adapter. 2- Insert the adapter into the groove on the gripper. 3- Insert the sensor on the adapter. 4- Slide it into the groove until the desired operating position is reached (LED lit on). 5- Lock with the screw (B) but do not over-tighten it CFSM CB3N2-G CB3M2-G Price $22.00 $22.00 Power supply (DC) 6 max 30 V Type of sensor PNP NPN Max current Power 250 ma 6 W Temperature range C. Pick-up time 0.8 µs Drop-out time 0.3 µs Pick-up point 40 GAUSS Drop-out point 35 GAUSS PNP OUT Electric life 10 9 IMP Magneto-resistive Contact resistance - NPN Shock resistance 30 G OUT Ingress Protection Rating IP 67 Forward voltage drop 1 V 287

7 PS CAUTION Never let the unit come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper. Never let non-authorized persons or objects be within the operating range of the gripper. Never operate the gripper on a machine that does not comply with the safety standards and laws of your country. MAINTENANCE The gripper must be lubricated every 10 million cycles, using the following products: Molykote DX (metal parts). Molykote PG75 (gaskets). The figure below shows the jaw backlash. 288

8 by PS PARTS LIST PS Gripper half-body PS Jaw PS Side cover PS Slider PS Pinion PS Pinion PS Piston PS Magnet PAR Screw VITE-004 (M4x14 mm DIN912 INOX A2) 9 10 Screw VITE-012 (M3x10 mm DIN965A INOX A2) Screw VITE-044 (M4x45 mm DIN965A INOX A2) O-Ring GUAR-023 (Ø1.78x15.6) Dynamic gasket GUAR-024P (30x21x3) Dowel pin SPINA-042 (Ø3x16 mm DIN6325) Screw VITE-019 (M3x20 mm DIN912 INOX A2) Dowel pin SPINA-002 (Ø3x20 mm DIN6325) Magnet housing PS

9 PS PARTS LIST PS Gripper half-body PS Jaw PS Piston PS Slider PS Pinion PS Side cover PS Magnet K Screw VITE-048 (M5x14 mm DIN912 INOX A2) 8 9 Dowel pin SPINA-042 (Ø3x16 mm DIN6325) 9 10 Screw VITE-045 (M4x16 mm DIN965A INOX A2) Screw VITE-046 (M5x50 mm DIN912 INOX A2) O-Ring GUAR-036 (Ø1.78x26.7) Dynamic gasket GUAR-015P (50x41x3) Dowel pin SPINA-033 (Ø4x25 mm DIN6325) Screw VITE-092 (M4x25 mm DIN965A INOX A2) Dowel pin SPINA-011 (Ø4x30 mm DIN6325) Magnet housing PS

10 by PS PIPING THE UNIT The gripper is pressurized from the side ports (P and R) using proper fittings and tubing (not supplied). The compressed air must be filtered using a 5 to 40 micron filter. The initial choice on air lubrication (lubricated or not) must be kept for the complete service life of the gripper. The pneumatic circuit must be pressurized progressively to avoid uncontrolled movements. P R PNEUMATIC CIRCUIT Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurizing the empty gripper at start-up. 3- Sudden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- Start-up valve (B). 3- Safety valves (C). 4- Flow controllers (D). 291

11 PS-P 2-JAW SELF-CENTERING RADIAL PNEUMATIC GRIPPER (SERIES PS-P) Double-acting radial motion. The gripping force is constant through the entire stroke (from 0 to 90, both opening and closing). Lightweight: light alloy materials were used throughout the gripper. Flat profile. Well protected against dust. Very versatile; more than two sensors can be used. PS-0016-P PS-0025-P PS-0045-P PS-0016-P PS-0025-P PS-0045-P Price $ $ $ Medium Pressure range Filtered compressed air, lubricated or non-lubricated psi Temperature range F Stroke (±1 ) 2 x 90 Gripping torque on each jaw at 87 psi 8.85 in-lbf 24.8 in-lbf in-lbf Total gripping torque at 87 psi 17.7 in-lbf 49.6 in-lbf in-lbf Maximum operating frequency 2 Hz 2 Hz 1 Hz Air consumption per cycle 1 in in in 3 Closing time without load 0.06 s 0.09 s 0.15 s Repetition accuracy Weight 0.7 lb (320g) 1.4 lb (650g) 6 lb (2700g) 292

12 by PS-P RADIAL GRIPPER The radial gripper is gripper whose jaws have an angular motion with an opening angle of approx. 90. It is normally used when it is necessary back the gripper jaws and fingers away from the working plane. USE OF THE GRIPPER As the gripper is double-acting, it can be used to grip a piece either when the jaws are closing or opening. The gripping force is the same in both directions, as the gripper is driven by rodless pistons. 293

13 PS-P DIMENSIONS (mm) PS-0016-P Dowel Pin Hole (N 2) Ø5H8x5 mm Gripper Finger Mounting Hole (N 3+3) Ø4.5 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø4H8 mm Gripper Mounting Threaded Hole (N 4) M5x5 mm OPEN STROKE Sensor slot Ports M5 294

14 by PS-P DIMENSIONS (mm) PS-0025-P Dowel Pin Hole (N 2) Ø5H8x8 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø4H8 mm Gripper Finger Mounting Hole (N 3+3) Ø4.5 mm OPEN Gripper Mounting Threaded Hole (N 4) M5x8 mm STROKE Ports 1/8 G Sensor slot Detail of side A 295

15 PS-P DIMENSIONS (mm) PS-0045-P Dowel Pin Hole (N 2) Ø8H8x13 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø6H8 mm Gripper Finger Mounting Hole (N 3+3) Ø6.3 mm Gripper Mounting Threaded Hole (N 4) M8x13 mm OPEN STROKE Ports 1/4 G Sensor slot Detail of side A 296

16 by PS-P SAFETY LOADS Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause malfunctions and endanger the safety of the operator. F, Mx, My, Mz are the maximum permitted loads under static conditions, that is when the jaws are motionless. PS-0016-P PS-0025-P PS-0045-P F 16 N 75 N 203 N Mx 2.7 Nm 7.5 Nm 48 Nm My 3.5 Nm 22 Nm 86 Nm Mz 2.4 Nm 15 Nm 59 Nm SPEED ADJUSTMENT The graphs show the maximum permitted moment of inertia on each finger (J), as a function of the jaw opening or closing time (t). Use flow controllers (not supplied) to achieve the desired speed. J=180 t 2 J=275 t 2 J=500 t 2 297

17 PS-P GRIPPER MOUNTING The gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to. To mount the gripper, use the two dowel pin holes (A) and the four threaded holes (B) in the base of the gripper body. Allow sufficient room for the air fittings (C) and to mount the sensors. A Dowel Pin Holes B Threaded Holes C Threaded Holes for Air Fittings PS-0016-P PS-0025-P PS-0045-P A Ø5H8x5mm Ø5H8x8mm Ø8H8x13mm B M5x5mm M5x8mm M8x13mm C M5 G1/8 G1/4 MOUNTING GRIPPER FINGERS The Fingers must be as short and light as possible. Mount them on each jaw using at least two bolts and two dowel pins. PS-0016-P PS-0025-P PS-0045-P Dowel Pin Holes Ø4H8 mm Ø4H8 mm Ø6H8 mm 298 Threaded Holes for Screws Ø4.5 mm Ø4.5 mm Ø6.3 mm

18 by PS-P SENSORS The operating position is detected by one or more magnetic proximity sensors (optional) through magnets placed on the pistons. Magnetic proximity sensors should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems and jeopardize proper operation. The sensors that can be used are: OUT CB... SS... PNP Magneto-resistive NPN SS OUT PS-0016-P PS-0025-P PS-0045-P CB3N2-G PNP M8 snap plug connector $22.00 CB3M2-G NPN M8 snap plug connector $22.00 SS4N225Y PNP 2.5m cable $26.14 (1) (1) (1) SS4M225Y NPN 2.5m cable $26.14 (1) (1) (1) SS3N203Y PNP M8 snap plug connector $29.96 (1) (1) (1) SS3M203Y NPN M8 snap plug connector $29.96 (1) (1) (1) (1) Use the adapter, Part # SS provided in the K-SENS pack. CB... CFSM SS... SS

19 PS-P CAUTION Never let the unit come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper. Never let non-authorized persons or objects be within the operating range of the gripper. Never operate the gripper on a machine that does not comply with the safety standards and laws of your country. MAINTENANCE The gripper must be lubricated every 10 million cycles, using the following products: Molykote DX (metal parts). Molykote PG75 (gaskets). The figure below shows the jaw backlash. 300

20 by PS-P PARTS LIST PS-0016-P 1 Gripper body PS-0016-P Piston PS-0016-P Pin PS-0016-P Driving gear wheel PS-0016-P Jaw PS-0016-P Jaw support plate PS-0016-P Idle gear wheel PS-0016-P07D 7 8 Idle gear wheel PS-0016-P07S 8 9 Cover PS-0016-P Magnet PS-0016-P Open end plate PE A Closed end plate PE C Elastic pin SPINA-025 (Ø3x16 mm DIN1481) Dowel pin SPINA-090 (Ø3x8 mm DIN6325) O-Ring GUAR-029 (Ø1.78x4.48) Screw VITE-031 (M3x8 mm DIN912) O-Ring GUAR-023 (Ø1.78x15.6) Dynamic gasket GUAR-002P (16x9x2.5) Elastic pin SPINA-038 (Ø3x12 mm DIN1481) Screw VITE-031 (M3x6 mm DIN912 INOX A2) Screw VITE-035 (M3x8 mm DIN965A INOX A2) Grub screw VITE-042 (M4x6 mm DIN913 INOX A2)

21 PS-P PARTS LIST PS-0025-P Gripper body PS-0025-P Piston PS-0025-P Jaw PS-0025-P Jaw support plate PS-0025-P Pin PS-0025-P Driving gear wheel PS-0025-P Magnet PS-0025-P Cover PS-0025-P Profile PS-0025-P Idle gear wheel PS-0016-P07D Idle gear wheel PS-0016-P07S Open end plate PE A Closed end plate PE C Grub screw VITE-227 (M4x8 mm DIN913) Dowel pin SPINA-042 (Ø3x16 mm DIN6325) O-Ring GUAR-030 (Ø1.78x25.12) Screw VITE-020 (M4x10 mm DIN912 INOX A2) O-Ring GUAR-029 (Ø1.78x4.48) Dynamic gasket GUAR-003M (25x18x2.4) Dowel pin SPINA-022 (Ø3x12 mm DIN6325) Screw VITE-031 (M3x8 mm DIN912 INOX A2) Dowel pin SPINA-006 (Ø3x10 mm DIN6325) Screw VITE-035 (M3x8 mm DIN965A INOX A2) 23

22 by PS-P PARTS LIST PS-0045-P 1 Gripper body PS-0045-P Piston PS-0045-P Jaw PS-0045-P Jaw support plate PS-0045-P Driving gear wheel PS-0045-P Idle gear wheel PS-0045-P Cover PS-0045-P Pin PS-0045-P Profile PS-0045-P Magnet PS-0045-P Open end plate PE A Closed end plate PE C Guide strip PE Dowel pin SPINA-041(Ø8x30 mm DIN6325) Elastic pin SPINA-040 (Ø8x30 mm DIN1481) O-Ring GUAR-028 (Ø1.78x44.17) Screw VITE-027 (M5x10 mm DIN912 INOX A2) O-Ring GUAR-029 (Ø1.78x4.48) Dynamic gasket GUAR-026P (45x36x3) Elastic pin SPINA-039 (Ø8x24 mm DIN1481) Dowel pin SPINA-023 (Ø4x12 mm DIN6325) Screw VITE-009 (M4x8 mm DIN912 INOX A2) Screw VITE-035 (M3x8 mm DIN965A INOX A2)

23 PS-P COMPRESSED AIR SUPPLY The gripper is pressurized from the side ports (P and R) using proper fittings and tubing (not supplied). Filter the air using a 5 to 40 micron filter. The initial choice on air lubrication (lubricated or not) must be kept for the complete service life of the gripper. The pneumatic circuit must be pressurized progressively, to avoid uncontrolled movements. P R PNEUMATIC CIRCUIT Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurizing the empty gripper at start-up 3- Sudden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- Start-up valve (B). 3- Safety valves (C). 4- Flow controllers (D). 304